Remote controlled indicator with stabilized head, pitch, and bank indicating unit



REMOTE coN'rRoLLnn lamanon wrm s'urmzxn' HEAD, PITCH, AND `BANK INDICA-TIN@ UNIT 4 Original Filed April 5, 1932' 5 Shoots-Sluit L Feb. 18, 1941. PL'KOLLSMAN 2 2232.531

P. KOLLSMAN xunrcuon wml snrmzsn nn' BANK InnIcArIue ulm' Feb. 1s, l1941.

REMOTE CONTROLLBD HEAD, FITCH, A

5 Shoots-Shout 2 Original Filed April 5, 1932 l ,rventn l FHUL KLLEMFN Feb. 18, 1941. P. KoLLsMAN y 2,232,537 REMOTE CONTROLLED INDICATOR WITH STABILIZED HEAD, FITCH, AND BANK INDICATING UNIT Original Filed April 5, 1952 5 Sheets-Sheet 3 Paul. KULLEJMHN @MKM P. KOLLSMAN REMOTE CNTROLLED INDICATOR WITH STABILIZED HEAD, FITCH, AND BANK INDICATING UNIT Original Filed April 5, 1932 5 Sheets-Sheet 4 Feb. 18, 1941.

,J5-1 ven'or.

F'FIUL KLLSNHN Feb. 18, 1941.

P. KOLLSMAN REMOTE CQNTROLLED INDICATOR WITH STABILIZED HEAD, FITCH, AND BANK INDICATING UNIT Original Filed April 5, 1932 5 4Sheets-Sheet. 5

ZY/Uaib.

PHUL KULLSMHN W BB..

Patented Feb. 18,1941 v UNITED Vs'm'ri-is PATENT OFFICE REMOTE CONTROILED INDICATOR WITH STABILIZED HEAD, FITCH, AND BANK IN- DICATIN G UNIT rauixonsman, stanford, conn.

Original application April 5, 1Q32, Serial No.,

603,432. Divided and this application May 17,

1937, Serial No. 143,241

11 Claims.

This application is a division of my co-pending application, Serial No. 603,432, led April 5, 1932.

This invention relates to indicating orcontrolling devices for any 'condition or position.

One object of the invention is to provide an improved gyroscopically stabilizedmeans responsive to the earths magnetic eld. l

AnotherV object is the provision of an improved unitary stabilized means for indicating head, pitch and banking of an aircraft.v l

Another object of the invention is the provision of an improved device including remote controlled indicators operated by a stabilized head, pitch and banking means. Y

Another object of the invention is to furnish an improved remote control apparatus adapted to cause a plurality of different motions to correspondingly occur atvdifferent points.

' Another object of the invention is the provision 'of an improved follow up means, whereby an actuator force may be .transmitted or multiplied.

Another object of the invention is to construct an mproveddamped gyroscopic device.`

Another object of the invention is to provide a gyroscopic device having three axes of freedom, one of which is restricted to automatically operate when one of the others is for any reason incapable of the normal response.`

A further objectl of the invention is to furnish an improved device oi the nature set forth having relatively few and simple parts and which is inexpensive to manufacture and assemble, convenient to operate, durable, accurate, reliable and r emcient to a high degree in use; and which may the same reference characters throughout the sev-- eral views. In the drawings:

Figure 1 is a view of a device embodying the invention with parts in elevation and other parts in vertical section. l

Fig, 2 is a View infront elevation thereof with a part removed.

k Fig. 3 is a view in vertical section taken on line 3--3 of Fig. 1. Y

Figs. 4, and 6 are views in horizontal section taken on line 4 4-, 5-5, and 6 6, respectively,

Of Fig. 3. 5

Fig. 'l is a view of a modified gyroscopic indicator having three axes of freedom, the indicator being shown in elevation and the casing in section.

Fig. 8 is a view in side elevation. on a reduced scale showing a modified device. having three axes of freedom.

Fig. 9 is a fragmentary view taken on line 9 -9 of Fig. 8. l

Fig. 10 is a view in elevation with parts in. section showing a modiiied liquid damped indil cater embodying the invention.

Fig. 1l is a view with parts in section and other parts in elevationshowing an indicator having a follow up means.

Fig. 12 is a view in vertical section with parts in elevation showing an indicator having a follow up motor and remote control means, embodying the invention.

Fig. 13 is a horizontal sectional view taken on line l3l3 of Fig. 12.

Fig. 14 is a view in vertical section taken on line I4--I4 oi Fig. 15, showing a follow up means embodying the invention. certain parts being removed.

Fig. 15 is a horizontal view thereof with parts in section.

Fig. 16 is a view in elevation of a modied device embodying the invention and having a follow up means, with some parts removed.

. Fig. 17 is a view in elevation with parts in section of an earth inductor indicator embodying the invention.

Fig. 18 is a schematic plan view showing-a modiication of a follow up means. Fig. 19 is a schematic plan view showing a device embodying thed invention and including a remote control means.

Fig. 20 is a diagrammatic view showing the circuit for the remote control means.

Fig. 21 is a sectional view taken on line 2I-2l of Fig; 19, showing a setting device for the remote control means.

Fig. 22 is a diagram showing a circuit for the remote control setting means. o

Fig. 23 is a View in front elevation of a remote controlled indicator embodying features of invention.v

Fig. 24 is a. diagrammatic view in elevation of an indicator having a photosensitive control means. 5

Fig. is a fragi'nenta'ry horizontal sectional 'may include. a g'yro driven preferably by air.

view showing detail thereof. r Fig. 26 is aview in side elevation of a device having a plurality of direction indication portions.

Fig. 27 is a vertical sectional view of an indicator having means for neutralizing magnetic effects. Y A

The advantages of .the invention as here outlined are best realized when all of its features and instrumentalities' are combined in one and the same structure, but, useful devices may be produced embodying less than the whole.

It will be obvious to those skilled in the art to which this invention appertains, that the same may be incorporated in several different constructions.' The accompanying-drawings, therefore,l are submitted merely as showing a preferred exempliilcation of the invention.

Generally described, this invention provides an improved stabilized device which is responsive to the earths magnetic field. y This ydevice may include a magnetic north. seeking element stabilized by a gyroscope. The device ought not to be positioned near the engine' of the vehicle,

Therefore a sleeve is mounted in vthie hub Il, and in this sleeve is journaled at 31 a hollow shaft 38, the inner end thereof being adapted to snugly communicate with an opening Il whereby air is transmitted to said shaft.l Fixed on the shaft is a gimbal element 40 having alined hub portions upon which may be journaled 'at 4| a gimbal means or casing 42 having corresponding hub portions. The latter may include a lower section 43 in which a gyro 44 ismounted.

Extending from the houow shaft as is passage 45 communicating with annular registering passages 4B in the hubs at one of the pivots 4I, and

a passage 41 may leadl therefrom to a point 15 ,ably suchl as to render it universally pendulous and balanced in every direction. 'I'he casing or 20 frame 43 carrying the gyro is therefore mounted below the plane determined by the axes atv 4I and 38 and the gyro may be positioned to spin about a vertical axis 48 central with the device but ispreferably located ,in a part of the vehicle y l5. A finger 49 may slidingly engageA in an an- 25 or aircraft that is substantially free of magnuiar groove of the gyro for retaining the same netic disturbances. Consequently, a remote conon its shaft 48.' The gyro may be rotated by 'trol means may be employed tov operate a suit-v any suitable power means, but preferably a fluid able indicator at a point where it can be readily such as rair is utilized for this purpose. The observed by lthe pilot. In the case of aircraft, invention contemplates the; provision of a. simple indications eonce'rning pitch and banking are unitary means which shall not 'only drive the desirablee Hence the invention may include a rotor but also damp out the oscillations thereof. unitary arrangement for affording such indica- Preferably a. pendulouslycontrolled air strean tions, and any suitable lmeans may be provided is utilized arranged S0 aS to affect the Volume,

for that `purpose, it being sumcient that a pendudirection or energy of the air stream. For ex- 'magnetic ile1d. The readings lair or gyro means be employed. A compact arrangement isobtained by constructingthe direction or head indicating means accordingly, as by taking the pitch orbanking angles with -respect, to the gimbal elements supporting the spective whether a remote control system is used.

ample, a' weight 50 is provided pendulously suspended by a suitable flexible preferably metallic l corrugated Atube Si communicating with the passage." and having an axial orince' I2. The

f rotor 44 may haveangularly spaced openings'40 as' motors operating according to the movements Butseparate remote controlled indicators for the Sages may have discharge openings i4 at the head,.pitch, and banking may also beenriployed. periphery of the. rotor. In order to accomplish InV obtgimng thev readings fon head pitch. or the damping. the inlet of each passage, in the mnkjng,V a mmm` up mans may be used' glich arrangement shown, is advanced lil() degrees of its outlet. Now, if oscillation of the gyroscope 50 of the mans or means responsive Occurs, the 1102216 discharges more all', 0I' 185Bu to thefearth's magnetic neid. 1n partiemar; it oir into certain of the inlets 5I, thereby produc- ,is gyroscopically stabilized and is responsive to will be noted that the power ofl such responsive ing a force differing by One qiinltel ,Phase from v means is comparatively very slight. and hence the Oiiiiilliiiion4 8nd tending t0 quickly damp the 'the importance 0f .u power multiplying means Same. When this iS accomplished, th Iior 55- which is delicately controlled thereby and is again in perfect alinement withthe'oriilce and' adapted to function as an accurate transmitter. nil' iS discharged equally -and in balanced rela- The invention includes various additional fea'- @i011 t0 the different passages. Causing 'contures of improvement which will` be described tinuous and uniform rotation of the avro. hereinafter,` v K Air can be supplied to the gyro under pres- Referring in detail to the drawings, 30 denotes .'Sul'e 01' uction 01' both. as by 11169118 0f n Vena device embodying the invention. The same tul'i tube 54a t0 which nir iS Supplied in themayinclude a mounting such as a casing 3| direction of the arrow dueto the travel of the supported'in any suitable manner. This easingv aircraft. creating a suction" through passage lib may be wholly closed, if desired, and may have which may be controlled by a screw type valve a front window 31 -of a transparent material ci the Suction being communicated, through f such glass. Alt the rear of the casing, may the 'passage 53. nnmle l2 and connected pasbe provided a hub' or other tubular portion Sages including 39. connected or merely openito a source. of uid, l Mounted in the casing 42 so .as to be cont as air'. At the end portion of said hub,'a dust trolled by the gyroscope, is a means responsive 'I0 removing means or screen 34 may bevprovided. to fthe earths magnetic field, such as a ma'g-- v Mounted within the casing is a device 35 which netic north seeking' element I5. Preferably a plurality of such elements may be parallelly inthe earthsv magnetic. field. This device is so terconnected and mounted 'as a unit on a spindle arranged as to'have two a'xes of freedom, and

5t journaled at different points in the casing 75 l n rotating mo, an insulating means 5I may be mounted between the compartments of the casings' I2, I3 `or wholly in the casing v42. 'The member 58 maybe a copper ring. My invention may also contemplate thefprovision of a gyro which is inherently incapable of ailecting a magnetic field, and hence the. gyro. can be made of Bakelite, glass or other like materials. a Sometimes there is a constant magnetic effect acting upon the element 55 from a certain part of the aircraft, vwhich tends to deflect the element from its true position. To overcome this a suitable compensator 59 may be provided which may include a casing El mounted on casing 42 and Ahaving a plurality of concentric gears 6I, 62

alined with the axis of element 55. These gears are independently rotatable by individual pinlons 6I. 54 which are separately controlled by members 55. Each of the gears 6|, 52 carries one or more magnetic elements 66, 61 which are thus adapted to be set by adjustment at 65 so that the resultant of all magnetic forces is such asto cause the magnetic element 55 to correspond to a true north or other predetermined direction. In order to afford access to the compensator, the casing Il may have a removable closure 5I such as a screw cap, whereby the members 65 can be adjusted.

The casing i2 may have an opening or window 69 through which the compass card is visible, the scale divisions thereof being read with respect to any suitable relatively stationary mark such as 1l which may be provided on the window 32. In order to show pitch and banking;4 suitable indications may be provided operating as between the gyroscope and a relatively stationarypart. Thusthecasingnmayhave an elongated straight line mark 1| at the base of window I9, associated with horizontally spaced marks 12 on window 32. It will be perceived that the marks 1i, 12 are disposed substantially in the horizontal plane determined by. theaxes at!! and 4l so that accurate reading is assured, and that, due tothe proximity of the indicia on the compass vcard and at 1I,

1i, 12 easy and rapid observation is afforded,

the arra unitary in Vits nature for showing head, pitch and banking of the aircraft. It may be noted that pitchfis indicated by a vertical` interrelative movement. between marks 1i, 12, while banking is shown by an interrelativeangular movement as between the 'mark 'Il and line determined by marks 12. Moreover, pitch and banking may likewise be observed by noting the relative position of nmrks 1i, 12.

' In Pig. 'I isshownamodineddevice 15 em- 'bodyingtheinventionandwhichmaybegenerally similar to the' device 39, except a novel principle of general application to gyroscopic `devicesisshowminthatthegyroscopeispro 'vided withathiraaxisorrreedom,tnis being' with the axlsoi the a-gimbal ment 11 is provided from shaft andlpivotally supportinggimbal element Ila at 38a. The object in providingv a third axis o`f freedom4 is that the. gyrosoope parts sometimes move into a position where the two axes tol come into operation when a. force is created due to inoperativeness of the other axes of free-- for the gyro may be provided at 19, and 'the elements 11'and Illa may have communicating air passages 89, 8i extended therethrough substantially inthe manner disclosed in Figs.,1 and 3.

In Figs. 8 and 9 is shown a modification of the invention representative of agyroscope having at least three -axes of freedom and provided by suitable gimbal elements or the like, and means to normally restrict the movement at one of the axes but to releasethe device for such movement when movement about any of the other two axes of freedom cannot for any reason occur. The device I2 may .for instance be s imilar to that shown in Fig. 1 except that a diiferent restricting means 83 is provided, which is relatively positive in action for normally causing the restriction mentioned. Thus a gimbal element nmay have a hub portion provided with an elongated surface l5 against 'which presses ilatwise a leaf spring` l5 mounted at l'l onfany-suitable stationary member or a casing suchas 4l. 'I'he spring 95 may be of suiiicient stiifnesstorque is exerted, theelement causes deflection of the spring, which returns the element to initial position assoon as the torque In Fig. 10 is shown agyroscopically stabilized ydevice 9| which maybe generally similar to-device ll, except `that the means responsive to the earths magnetic neld is liquid damped. Said meansmay be in the nature of a magnetic element 9| iournaled on a spindle 92 in a casing sa. Associated with ma eiemenmhere may be a float 9| immersed in a'liquid such asoil that completely illls the casing Il. The element may bemagneticallysbieldedbyamember ,anda compass card may be mmmted on the iioat and viewed through any suitable closed transparent window that may befprovided in said casing. In order to maintain the damping liquid at an eventemperatureao asto assureuni- .form conditions m. the instalment a heating on maybeprovidedwhichmaybearrangedto One possible arrangement of themeans reavoid magnetic eifects upon the element Il, as

by providing said, coil with sections in which the current nm in opposite direcons for neutralizing the magnetic eects of the heating coil in a conventional manner.I Current may be supplied -to the heating coil 'from a battery 91, and may be controlled by a thermostat l in said casing. In order to take care of any expansion of the liquid or loss of a minute quantity-thereof that may occur, an expansible d1aphragm or box 92 may be provided sealed with the. casing, the interior of which box may communicate with the atmosphere at |00 if de sired. In this way, the entrance of air into casing 92 and the generation of air bubbles which would upset the equilibrium oi the device is prevented under anyecondition.

In Fig. 11 is shown generally a device |0| which may include a follow up means whereby the power ofthe means that is responsive to the earths magnetic eld is ampliiied. 'Ihis principle is of particular advantage with a remote controlled indicator, but may be advantageously employed for actuation of any desired means or control, or merely for directly operating an indicator. such as the compass card. The device |0| may or may not be gyroscopically stabilized as hereinbefore described. It is sufllcient that the casing |02 carrying the magnetic means is rotatable aboutl anaxis at |02 preferably alined with the gyro. Any suitable follow up means hereinafter described may be controlled by the magnetic means so as to rotate the casing |22 -and hence the member |04 having a compass card |05 carried thereby. In other respects, the device |0| may be similar to that shown at 20, except that the gimbal element |06 may be pivotally mounted at ,|01 on .a vertical bracket |00 ilxed to the casing |09, the air for the gyro being supplied by a flexible tube ||0.

In Figs. 12 and 13 is shown a device which may have a. follow up system as referred to in connection with Fig. 11. This device may be gyroscopically stablized at ||2 and may have at least two axes of freedom including a glmbal element I I3 on which the casing I |4 is pivotally supported. Within said casing, an inner casing lili may be provided rotatably Journaled therein at ||0 about an axis thatv may be alined with the .gyro. Within -the inner casing is a spindle ||1 alined with said axis and having a carrier' |0 i'or one or more magnetic elements ||9 that are re- -sponsive to the earths magnetic eld. A comby any suitable power but preferably air is used for this purpose. Hence an air stream may be provided that .may be caused to operate both the gyro and the follow up means. Accordingly, there may be a passage |20 connected-to annular passage 46, the passage |20 communicating with a similanannular passage 2| about the axis IQ. From the latter a passage4 |22 leads to a control valve `such as a chamber |22 having a piston |24 therein. The cylinder may have spaced passages |25, |26 alternately opened and closed by the piston which may have a central passage portion |21 of reduced diameter. Associated with the passages |25, |26 is a rotor or turbine wheel |20 enclosed in a chamber |29. This rotor is connected to drive a pinion |20 that engages an annular gear |2Ia which is secured to the outer casing ||4. Hence rotation in either direction can be .caused as between the inner and outer casings Ill, |4. It will be understood that while the air flow may occur in any desired direction. it preferably occurs through an inlet opening |2| in outer casing ||4 which opening communicates with a main casing such as 2| having a suitable inlet. The chamber |22 ci.' the inner casing Ill may have an opening |2|a so that the air passes around the rotor according as the passage |20 or 5 passage |22 is open.

Y For the purpose of controlling the piston |24, v suitable means are provided responsive to the magnetic element H2. For example, the carrier ||2 may have a vane or valve |22 operating between passages |22 connected separately at |24 to the ends of the cylinder |22. Extending through the end portions ot the piston are small bore passages 120 which intercommunicate passage |22 at the central reduced part of the piston with the passages |22 so as to cause a corresponding air pressure on the opposite ends of the piston. Air ilow is caused to the passages |22 through an opening |22a in the outer casing H5. Now, ii a relative rotation occurs between the magnetic elements I2' and the rest of the device valve |22 moves from central position between passages |22 so as to open one of these passages and close the other. This causes the air pressure at the opposite ends of piston |24 to become unbalanced 25 so that thev piston moves and closes one o1' the passages |22 and opens the other passage |21. The rotor |28 begins to turnv and moves the inner casing in the proper direction until the valve. |22 is again in substantially central balancing position. Actually the device constantly hunts between the narrow limits determined bythe free spacing between the passages |22. v

The principle of the motor or follow up means of the device is applicable between any movable parts whatever, and can be utilized, for instance, between a pair of glmbal elements, or a glmbal element and a stationary member.

In order to damp the magnetic element |I9, a suitable mechanical damper may be provided, such as a' cylinder |26 ilxed to casing IIS and closed at one end. and having a light piston or plate |421 movable therein with suiilcient clearance to preferably avoid frictional contact with the cylinder? walls. Said piston is mounted on a rod |22 connected to carrier ||2 so as to have an oscillatory motion. Air moves restrictedly back'and forth-of the piston whereby thefdamping action is obtained.

In Figs. 14 and l5 is shown a modiiled type of 50 motor or follow up means |40, according to a principle which can be employed between parts that are interrelatively movable in any desired manner, but has special advantage for parts that have an interrelative angular motion. Accordingly the arrangement shown may be used as a system controlled by means responsive to the earths magnetic iield, or between dii'ierent glmbal elements, or between a glmbal element and a relatively stationary manner. Thus a gimbal element |4| may be pivotally mounted at alined axes at |42 and may rotatably carry any desired body 42 which may be, for instance, a signal, control, indicator, or a means responsive tothe earths magnetic eld. The advantages of the invention will be best appreciated by considering the body |42 as a pendulous controlled orV gyroscopically stabilized position indicating means, or one that carries a means responsive to the earths magnetic field. A follow up means or motor |44 may be `operative between |42 and gimbal element |4| in any feasible manner.

The motor |44 may be operated by any suitable motive power, such as air under differential pressure. The body |42 may carry a cylinder |42 75 connected thereto. and a radial piston |46 extending from 'a hollow shaft |41 that may be xed to gimbal element |4|. Said shaft may communicate with a source of air through a tube |46 and annularpassages |43, and may have ports .|50 v,for discharging the air on opposite sides of the piston. The cylinder may have an annular wall |5| secured thereto and having wiping contact with the shaft |41. In this manner cylinder chambers are provided and these may have individual outlet ports |52, |53 leading to the body |43 with air passages as shown at |33.so as to `be controlled by a valve |32 movable therebetween under operation of means ||3, and according to principles shown in Figs. 14, 15.

In operation, vthe motor |44 is normally Drac tically motionless, except 4that it may hunt as the valve |32 iluctuates between passages |33. When-valve |32 closes one of the passages |33 for any length of time, dueto a change in -heading of the aircraft, the corresponding outlet |52 or |53 is substantially closed so that a differential pressure is built up as between the chambers of the cylinder. Since piston |46 may be regarded as fixed to the Vgimbal element 4|, the cylinder |45 is caused to rotate and to move the sensitive v unit |43 correspondingly. Thereupon the posifor |43. In that case one ofthe gimbal elements will carry a valve such as |32, and the other gimbal element the passages |33, and one of said gimbal elements would carry the cylinder and the other the piston |46. In every case the valve |32 can be actuated in different ways mechanically orotherwise. The motr |44 may be employed for the remote control of instruments in various associations with electrical means as Ahereinafter indicated. By utilizing a motor |44 between thegimbal elements, frictionl and other retarding factors are eliminated and a positive accurate operationis assured. With the principle of the motor |44, a very small force and a relatively small quantity of working iluid issuillcient to cause a large differential pressure to operate the motor.-

In Fig. 16 `is shownva modification of the follow up 'motor as applied to a liquid damped gyroscopically stabilized indicator |55 of the nature shown in Fig. 10. In this. device the magnetic element 3| is inaccessible, being immersed in liquid, and the compartment therefor must be sealed tig'ht to the extent that not even a spindle may be extended'through he wall thereof due to possible leakage of the liquid andentrapment of air which'might vunbalance Vthe system. l Hence the damping eifect of the liquid is utilized indirectly by a means responsive to the magnetic inuence of the element 3|.v .Thus a magnet |56 is'rotat ably mounted at `|51 inalinemen't with spindle 32, but without any-mechanical connection between elements |56 and` 3|. The* magnet |56 is of small mass and length so as to be littleaifected by; acceleration and other forces created by a movement of the aircraft, but is in proximity-to the element 3| so as to be controlled thereby.

Therefore .the magnet |56 may be individually damped or undamped as desired. A motor such as |44 may be controlled by the magnet |55, as by yproviding an air relay including passages such as |33 that may be controlled by a valve |32 carried by the magnet and movable between said passages. as shown in Figs. 12 and 13.

In Fig. 17 is shown another modification including an earth inductor |53, having brushes at |53 movably carried by a member |60. 'I'he earth inductor may include a gimbal means |6| affording a plurality of axes of freedom about pivots at |62, |63. Separate motors such as |44 may be provided between the gimbal element |6| and the casing of the earth inductor, and between said gimbal element and a support |64 therefor. .Fixed on the earth inductor as by means of an arm |65 is a motor |44, the central shaft |66 of which, corresponding to shaft |41, is connected to the member |60 and to an indicator such as a compass card |61. The air relay for the motor may include passages |33 and a valve |32. for controlling the same. The latter may be operated by' an electrical means |68 in response to fluctuations in the current of the earth inductor. 'Ihe means |68 may, for instance, include a current amplifier and a suitable electromagnet and associated means-adapted to reciprocate the valve for closing either of the passages I33, according to the changes in the current in the earth inductor. The device |68 can be mounted at |63 on bracket |65.

In operation, the earth inductor is set for any desireddirectiomby moving brushes |53 tocorrespond thereto. If the aircraft or vehicle changes from said direction, a current is generated in the earth inductor, causing operation of the means |66 according to the direction of said change. Hence motor |44 is operated correspondingly so that shaft |66 turns and moves the indicator |61 and brushes |56 until the effect of the change in direction is neutralized. 'I'he device as a whole thus constitutes a means for indicating a deviation from a condition that is to be maintained, as by being responsive to the earths magnetic field, although not necessarily north seeking. The earth inductor is pendulously arranged and the rotor thereof may-'operate as a gyro for stabilizing the device. l

In Fig. 18 is shown a simple device |10 including a remote controlled indicator |62. Said device Amay include a gyroscopically stabilized means |1| responsive to the earths magnetic eld and may have a motor such as 44 and gimbal elements such as |12 aifording axes of freedom.

Mountedon the gimbal element |12 an electrical means may be provided wherein a potential difference or the like may beobtained under the control of the means 1|. For instance, a re- .sistor element |13 may have a switch arm |14 slidingly engaged thereby under the operation of the means |1|, said switch arm moving with the means |1| in suitable relation thereto about an axis at |15. The indicator |1| may be any con-h ventional type so connected in circuit as to be actuated according. to said potential difference. 'I'hus the indicator may have inductance coils |16 connected with a battery |11 or other source of current, and in multiple with the different sections of resistor |13 into which the switch arm may divide the same. Thus the ends of the resistor are separately connected by wires |18l |13 with inductances |16, and both inductances being connected with; the batteryand switch arm by wires |30. Actuated by the inductances |16 is arotatable armature or magnet |8| carrying A an indicator or pointerl82 for showing a conditiol` or heading. As the switch arm |18 moves,

pitch, and banking of the aircraft. Where pitch l5 and banking readings alone are desired, a gyroscope will sumce for functioning as the actuator. It will be understood that, instead of operating indicators, the invention may be used for automatic controll of proper steering or guiding apparatus of the vehicle. However, the advantages of the invention are best exemplified in a device of unitary character as herein shown, having actuating means remote from the engine of the aircraft,fand having a remote control system and indicating means operated thereby located near the engine and pilots seat, for showing the head, pitch and banking of the aircraft. A 4

In the device of Fig. 12, the motor shown in Figs. 14 and 15, or any other kind of motor can be substituted.

Fig. 19 shows diagrammatically a gyroscopically stabilized device responsive to the earths magnetic field. This device may have a head indieating unit |88, which may correspond to that at |1|, and may include a magnetic north seeking element, a gyro rotor, and a follow up motor as shown in Fig. 12. Said unit |88 may be pivotally mounted ,on a gimbal ring |88 as by means of shafts |81, and the gimbal ring 88 may be similarly mounted by means of shafts. |88 on sup- DOrts |88. With the axes of shafts |88 extending fore and aft, it will be noted that a relative turn between gimbal element |88 and its supports |88 is indicative of banking. Hence this gimbal ement may also be designated by letter B. Si arly a relative turn between |88 and element B is indicative of pitch, so that 88 may also be designated by letter P. The means responsive to the earths magnetic neld, or indicative of heading may in this instance be designated by letter H which may be applied to a part which turns with said means about a vertical axis, and may be considered as representative thereof. Separatemeans may be used for transmitting indications of the different motions above referred to, andseparate indicator parts may be operated thereby.

Thus. remote controlled indicators |88 may be Y provided which may be similar in principle, ex- 69 cept that they may be diiferently Varranged'and calibrated, so that one indicates head H, another pitch P, and a third banking B. While these indicators may be combined together. yetthe invention is more clearly understood by the representation of separate indicators.

Each indicator |88may have an armature |8| y carrying a pointer |82, and inductively influenced by la plurality or three coils |88. The coils of each'indicator are connected in multiple by 'IQ conductors |88 'with a source of current or battery |88 and each of the coils has a separate wire or conductor |88 leading to the device i I. Hence there are three units or cables of conductors |81H, |88P and |88 B leading to said device.

z5 considering the una lun, the wires thereof.

are connected individually to conductor elements 288 carried by support |88, and having brushes 28| or the like for contacting conductor rings 282 on shaft |88. From these rings, wires 288 may extend along the gimbal element to member 5 288 ilxed thereon and carrying brushes 288 or the like for sudmgiy electrically contacting ccnductor rings 288 on shaft |81. From these rings 288, conductors 281 extend into movable electrical -engagement with a ring transmitter member 10 288 of relatively large diameterflxed on the unit |88. It will be understood that the transmitter ring 288 is so constructed and the conductors 281 so arranged relatively thereto as to cause one after another of the three conductors 281 to effect electrical contact so that a step by step transmission is obtained. For instance, the transmitter ring 281 may be provided with sectional conductors or teeth in a well known manner, and the conductor portions of the transmitter ring and the conductors 281 may be onset relatively to each other for the successive operation, in a welll known manner.

The lmit |88P may likewise he connected to brushes .288 mounted on' anopposite portion of 25' the support |88, and engageable with rings 2|8 on adjacent shafty |88, conductors 2|| leading from these rings to brushes 2|2 mounted on gimbal element |88, for slidingly contacting?j transmitter rings 2| 8 fixed on a portion of shaft |81. Rings 2|8 may be of relatively large diameter and they and the conductors or brushes 2 |2 maybe arranged in a manner similar to that described for' 281, 288. A similar arrangement in`- conductor ring 2|8 on shaft |88, and from which 40 ring a conductor 2| 8 may have contact at 228 slidably or otherwise at any desired region with each of the transmitter rings 2|8 thus completing the circuit therewith. The conductor 2|8 also extends along gimbal element |88 to brush orV conductor 22| which contacts ring 222 on shaft |81 and from which ring may extend a conductor 228 which'may slidingly engage transmitter ring 288 as at 228 for'completing the circuit therewith.l The conductor 228 may extend along the device |88 and eifect sliding electrical 4contact as at 228 with each of the transmitterv rings 2|8, completing the circuit thereto. Itrwill be understood that all parts are electricallyinsulated wherever required, and that each group of .transmitter rings may be made in the form of one ring or in any other conventional manner. f v

In order to permit the system including the remote control apparatus to be reset inthe event that an indicator |88 should fall out of step with the actuating indicator, a novel, simplined arrangement is provided which is applicable to different kinds of 'remote control means, and for different applications thereof. Separate setting devices 288 may be provided for correction in the head, pitch and banking indications, both at the `actuating indicator and at the remote continued indicator, and these devices maybe of similar construction. Each may include a plurality of elements movable in opposition to each other, one of the elements being preferably automatic, and the'device being arranged so as to cause a return of parts controlled thereby to an initial podtion in a single direct movement regardless of the 75 aaaassz c the armature 232 moves under the influence of said spring so as to engage the crank and turn -the same to an extreme position toward the left relative to Fig. 21. By making the crank offset of suiiicient radial length, accuracy in settingis obtained, and the positiveness of the device may be further increased by providing a guide or notch 231 in the amature engageable with the crank c arm in the extreme initial setting position.

Y'I'he electromagnets 235 of each vof the devices 230 may bee-energized in any suitable manner, but preferably devices used forinstance, for a correction in pitch reading, and provided atthe actuating indicator and at the remote controlled indicator are connected in a single circuit so as to be operated simultaneously by a unitary means such as a switch. 'I'hus a conductor may lead from battery I 95 to a ring 238 on shaft |88, and a conductor 239. may 'extend from said ring along the gimbal element |86 lto electromagnet 235,'the circuit being completed as by grounding. A conductor 240 may extend in any suitable manner from conductor23ll to a brush 24| engageable with a plain contact ring 242 for furnishing current to device 230 which is used for setting the unit '|85 about its. vertical axis. The device 230 for banking vsetting about shaft |88 can be connected into the circuit in a similar manner with f conductor 239. V I

In Fig. 22 is` shown diagrammatically the circuit for the different settingdevices 230. Those 4 at thev actuating indicator may be marked P, H

and B for. pitch, head and banking respectively,- and those at the remote controlled indicators |90 may be correspondingly marked p, h, and b. All

the setting devices 230 may be connected iniany suitable circuit in series or parallel, preferably` the latter, and the circuit may be independently arranged so that operation ofv devices 230 will not affect any other part of the remote control means or associated devices. Thus a battery 'or source of current 245 may be provided having a main line 246 from which extend branches 241 individually to the dilerentdevices 230. The latter as a unit to initial positon, wherebya lack of syn-v -and the battery may be grounded as at 246. In 'the main line, a switch 249 maybe provided, so that,on opening' the same, all-the electromagnets 235 are deenergized andthe entire systemY moved chronization is corrected. Then on again closing the switch 249, the system is adapted-to operate in the' normal manner.

It will be perceived according to Fig. 22 that the different remote controlled indicators may also be' similarly movable, as 'about vertical axes and according to suitable scales.

In Fig. 23 is shown a reinote controlled indicator 250 which may perform the functions of indicators |90.

For instance a single relatively stationary casing 25| may be provided having a glass window 252.v In this indicator, a fixed unit 253 may be provided that may have a stationary pointer 254 and'a rotatable compass card 255.

^ Unit 253 may be actuated in any suitable manner, or as shown at |90 in Fig. 20. The casing 25|v may also have a unit 256 mounted therein, which unit may include gimbal elements aifording two axes of rotary movement at 251, 258, ly'- ing in a normally horizontal plane. Actuating means such as 259, 260 may be provided separately controlling the movement about the respective axes. The actuating means 259, 260 may be of any suitable type and can be devices such as shown at |90 in Fig. 20. One of the meansI 259 may operate between the gimbal element 262, and the other means 260 may operate between gimbal element 262 and a member 263. The latter may be of any suitable size, weight, or form and may be balanced in every direction about the axis atA 258. Said member 263 may merely carry an elongated mark 2.64 lying inthe plane of axes 251,258, and thel window glass 252 may carry marks 265 alined with mark 264 'at opposite ends thereof, whereby pitch and banking is indicated, according as the mark 264 moves up or down, or angularly about the axis at 258.

In Figs. 24 and 25 is shown a modified devicev with a different remotecontrol means which may.

include means sensitive to radiant energy. Thus an indicator such as a compass card 266 may be of translucent or transparent characterand may ,have scale divisions provided by relatively thick marks 261. Back of the compass card, a relatively stationary member 268 may be provided having a front wall 269 in comparatively close proximity to the compass card. Member 268 may have a plurality of compartments 210 in which photosensitive cells 21| may be mounted so as tobe activated by light from a lamp 212 uniformly reflected with the-aid of a reflector 213 through openings 214 in the front wall of the compartments so as to separately affect the photosensitive' cells. The openings 214 and their corresponding cells 21| are so spaced as to correspond with the marks 261 in such manner that `one after another of the cells 21|` are cut oil from light, in acontinuous series. Therefore the spacev ing between openings 214 may be different or a little greater than that between the marks 261. The different photosensitive cells may all be connected by conductors 215 with a device 216, and

the currents amplified `if desired, and caused toV Y In Fig. 26 is shown a device wherein an indicator is provided adapted for minute reading over a wide range. Thus a plurality of indicator elementssuch as compass cards 280, 28| may be provided interconnected preferably in coaxialre-Y lation with .reach other. Thus the compass card 28| operates in any suitable manner or as hereinbefore described by a gyroscopically stabilized means responsive to the earths magnetic field. Movable with Asaid compass card is a concentric gear 282, power being supplied as by a motor |44.S i Gear 282 turns a large gear 284 which engages a Agear 285 that may be connected to compass card 2 80 for moving the same. The compass' cards 280, 28| move in synchronism and have their scale divisions arranged accordingly, any suitable speed reduction means being utilized so that member 280 has a greater angular. movement than member 28| for a given change in a condition. l

In Fig. 2'7 is shown a modification of the inven- A similar arralngeion means for neutralizing magnetic ef' fects generated by the gyro rotorso that they may not affect the means responsive to the earths magnetic held. Said means may consist in the provision of a rotor such as nltummg in opposite direction to the gyro rotor 2.1. These rotors may be vinterconnected by any suitable drive. I he latter may include a pinion 2" ilxed thereto and engaging a gear 2l! molmted/on an arm of thev casing and turning a pinion 29.,"the

' teeth of which mesh with those of an internal equal and in opposite directions, so that the magnetic element is undisturbed by the rotation of the'rotor 281. In all other respects the device may be the same as hereinbefore described, and may constitutes:c gyroscoplcally stabilized means responsive to the earths magnetic field.

Various features. oi the invention show n and described vherein may be usefully employed separately and in different combinations and arrangements, using the devices herein shown or substituting conventional constructions in place of certain features.' In particular the invention may include the remote control system with a means responsive to the earths magnetic iield,

such as an earth inductor, or with a magnetic north seeking means, whether damped or undamped.. In every case the power amplifying motors or devices can be us'ed, or the photosensitive arrangement employed, sensitivity in reading afforded, and the means responsive to the earths magnetic eld suitably shielded or positioned against magnetic disturbances. A uni`v tary simpliiled system is obtained which functions accurately and which may be observed conveniently and quickly reset whenever desired to assure the operator against ermrs in the system.

The bearings may be Jeweled or spring mounted throughout to assure of minimum friction and maximum accuracy of alinement. VNonmagnetic materials may be employed wherever feasible, and hence the bearings oi' the gyroscopic stabilizing mounting or a substantial part ofthe latter can be made of stainless steel or the like. Soft iron shields may be used wherever necessary to protect the magnetic element from undesirable eiects of the stabiliser, caused by magnetic materials orby eddy currents generated in the rotor of the stabilizer.

Certain errors in indication may be compensated for by properly relating the indicating means to the magnetic element for a certain average velocity of the gyro rotor, as by shifting the compass card to a suitable degree in l opposite direction to that of rotation of the gyro rotor from the position of the magnetic element which ,is correct when the gyro is not rotating. While the gyro may be electrically rotated it is preferably spun by means of a duid such as an air flow caused by a pump such as a Venturi means. likewise the power amplifying motors may be operated by any suitable means or even ly power obtained by the gyro In general any kind oi' fluid power suchssair or electxicitymaybeusedforoperatinganypartofthe System. The power amplifying'mot9rs may also be used for controlling the remote controlled ln`- dcator. The magnetic element which may consist of a permanent steel magnet, electromagnet,.

or the like may be kept alined with the gyro 5 'motor in any suitable manner. While a separate element is used for indicating heading orV direction, a single element may be arranged to show position including heading, pitch or banking, or any combination thereof, 'and thus the l0 compass card itself may be arranged to be n ot only rotatablegbut also adapted to move angularly relative to a horizontal plane.

It will be appreciated that various changes and modications may be made in the device as 15 movement of one of the gimbal elements so that 25 the gyro normally possesses two axes offree-vv dom, the restricting means releasing said gimbal element when forcein excess of a predetermined vamount is applied to said element by reason of the fact that another of the gimbal elements is 30 in inoperative position. f

2. A device including a gyro vertical, means',l

responsive to the earths magnetic eld carried and stabilized thereby, and means for preventing the gyro from affecting theresponsive means, 35

including a rotor disposed between the gyro and the responsive means and having an axis coincident with the axis of said gyro and rotatable in opposite direction to the gyro.

3. In a compass, the combination of a closed 40l liquid iilled easing, and a rotatable magnetic element mounted in the casing so as to be damped by said liquid, of means for imparting heat to said liquid, including electrical resistances arranged for counteraction of their magnetic eil'ects so as not to iniluence the element, and .thermostatic means directly actuated by the temperature of said liquid for controllingQ the heating means.

4. In a compass, the combination of a liquid iilled casing, and a rotatable magnetically actuated float means immersed in the liquid and adapted to damp vibrations thereof, of means immersed in said liquid for maintaining substantially constant the temperature of the liquid, titil whereby the density and damping action is rendered constant.

-5. In a device subject to m'agneticeffects caused by electrical currents. the combination with a magnet and stabilized molmting means t0L therefor including a gyro, o! a rotor intermediate of the magnet and gyro, and means to cause said rotor and gyro to rotate in opposite directions, whereby the rotor shields the magnet against magnetic disturbances caused by the gyro. as set forth.

6. In a rdevice Asubject to magnetic effects caused by electrical currents. the combination with a magnet and'stabilized' mounting means therefor including a gyro, oi' a disc intermediate 70 of the magnet and gyro, said magnet having an axiscoaxialwiththediscandgyrdsaiddiscbe- -ing of substantially smaller mass than th@ gyro.

v'1. The combination o! an instrument casing: a gimbal element mounted therein -for movement about a substantially vertical ilrst and a substantially horizontal axis; a rotor bearing casing mounted on said gimbal element for movement about a third substantially horizontal axis normal to said second axis; a gyro rotor supported by said casing about a substantially vertical spin axis; and a spring between said element and said casing biasing said gimbal element about said rstfaxis towards a predetermined position relatively to said casing, thereby providing a yielding mounting of the gyroscope.

8. A device including means responsive to the earths magnetic. ileld, universally mounted gyro stabilized means for mounting thesame, a liquid iilled container enclosing the responsive means, heater means in immediate thermal contact with said liquid and heating the said container and liquid filling, end means for automatically controlling the heater means in response -to changes in temperature oi.' the liquid.

9. A device including an actuator; a remote control means operated thereby; means operated by the remote control means; and means for setting the actuator and the remotely operated means in corresponding positions,v said setting means including individual setting elements for the actuator and the'remotely operated means movable by said actuator and operated means respectively, members for moving said elements into predetermined initial positions, first actuating means tending to move said members into a position in' which said elements are operatively disassociated from said members, secondV actuj ating means tending to move said members into 'a position for setting said elements into said predetermined initial positions, and control means for controlling one or said actuating means.

10. The combination oi.' an instrument housing adapted to be xedly mounted on aircraft as to partake of all movements of the craft; a rotorv casing; a gyro rotor mounted in said casing about a rst spin axis; supporting means for supporting said rotor casing about a second and a third axisnormally at right angles to each other andaxis,` whereby damage to the gyroscope is prevented at operating conditions under which the spin axis becomes aligned with one of said second and third axes.

11. 'Ihe combination o! an instrument housing adapted to be fixedly mounted on aircraft as to partake of all movements of the craft; a rotor casing, a gyro rotor mounted in said casing about a vertical iirst spin axis; supporting means for supporting said rotor casing about a second and a third axis normally horizontal and at right angles to each other and to the spin axis; means for mounting said rotor casing and supporting means as a unit in said housing about a fourth axis normally aligned with the spin axis; and a spring acting between said housing and said sup-l porting means for resiliently restraining the movement oi said rotor casing and supporting means about said fourth axis. whereby damage` to the gyroscope is prevented at operating conditions under which the spin axis becomes aligned with one of said second and third axes.

PAUL KOLISMAN. 

